Robot

ABSTRACT

A robot having joint shaft that includes: a first-link member and a second-link that are coupled about a rotation axis; a reducer that has an input-shaft fixed to the first-link and an output-shaft fixed to the second-link; a motor that generates a driving force to be input to the reducer; and an input-side encoder and an output-side encoder. The motor is away from the rotation axis, and a power transmission mechanism is provided between the motor and the reducer. The reducer includes a hollow-part and a tubular-member. The tubular-member passes through the hollow-part, one end of which is fixed to the input-shaft or the output-shaft, and the other end of which protrudes from the input-shaft or the output-shaft. The output-side encoder includes a scale and a sensor. The scale is fixed to the tubular-member; and the sensor is fixed to the input-shaft or the output-shaft.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based on Japanese Patent Application No.2019-013685, the contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a robot.

BACKGROUND

Deflection or wobble may occur in an internal mechanism of a reducer dueto insufficient rigidity. In order to reduce this, there is a knownrobot that includes, in addition to an input-side encoder that detects arotation angle of a rotation shaft of a motor, an output-side encoderthat detects a rotation angle of an output shaft of a reducer (forexample, see Japanese Unexamined Patent Application, Publication No.2016-27951).

This robot includes two links rotatably coupled by a bearing, an inputpart of the reducer to which the motor is fixed is fixed to one of thelinks, and the output shaft of the reducer is fixed to the other one ofthe links. The output-side encoder is an optical encoder and includes ascale that is provided on one of the adjacent surfaces of the two linksadjacent in the direction of the rotation axis and a detection head thatis provided on the other one of the adjacent surfaces.

SUMMARY

According to one aspect, the present disclosure provides a robotincluding at least one joint shaft including: a first link member and asecond link member that are coupled so as to be rotatable about arotation axis; a reducer that has an input shaft part fixed to the firstlink member and an output shaft part fixed to the second link member; amotor that generates a rotational driving force to be input to thereducer; an input-side encoder that detects a rotation angle of arotation shaft of the motor; and an output-side encoder that detects arelative rotation angle between the first link member and the secondlink member, wherein the motor is disposed at a position away from therotation axis, and a power transmission mechanism that transmitsrotation of the rotation shaft to the reducer is provided between themotor and the reducer; the reducer includes, at a position including therotation axis, a hollow part penetrating in the direction along therotation axis, and also includes a tubular member that passes throughthe hollow part, one end of which is fixed to one of the input shaftpart and the output shaft part, and the other end of which is disposedso as to protrude from an end of the other one of the input shaft partand the output shaft part; the output-side encoder includes aring-shaped scale member that has an angle-detection pattern and asensor that detects the pattern on the scale member; the scale member isdetachably fixed to the other end of the tubular member; and the sensoris fixed to the other one of the input shaft part and the output shaftpart.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a side view showing a robot according to one embodiment of thepresent disclosure.

FIG. 2 is a front view showing the robot shown in FIG. 1.

FIG. 3 is a longitudinal sectional view partially showing a first jointshaft of the robot shown in FIG. 1.

FIG. 4 is a front view partially showing a second joint shaft of therobot shown in FIG. 1.

FIG. 5 is a side view partially showing the second joint shaft shown inFIG. 4.

FIG. 6 is a partial longitudinal sectional view for explainingattachment/detachment of a scale member to/from a side surface of afirst arm shown in FIG. 5.

FIG. 7 is a longitudinal sectional view showing a modification of thestructure shown in FIG. 6.

DETAILED DESCRIPTION OF EMBODIMENTS

A robot 1 according to one embodiment of the present disclosure will bedescribed below with reference to the drawings.

As shown in FIGS. 1 and 2, the robot 1 of this embodiment is, forexample, a 6-axis articulated robot.

The robot 1 includes six joint shafts J1, J2, J3, J4, J5, and J6.

The first joint shaft J1 is provided between a base (first link member)2 installed on a floor surface serving as an installation surface and aswivel body (second link member) 3 and allows the swivel body 3 torotate about a vertical first axis (rotation axis) A, with respect tothe base 2.

The second joint shaft J2 is provided between the swivel body (firstlink member) 3 and a first arm (second link member) 4 and allows thefirst arm 4 to rotate about a horizontal second axis (rotation axis) B,with respect to the swivel body 3.

The third joint shaft J3 is provided between the first arm (first linkmember) 4 and a second arm (second link member) 5 and allows the secondarm 5 to rotate about a third axis (rotation axis) C parallel to thesecond axis B, with respect to the first arm 4.

The fourth joint shaft J4 is provided between the second arm (first linkmember) 5 and a wrist unit (second link member) 6 and allows the wristunit 6 to rotate about a fourth axis (rotation axis) D that has atwisted positional relationship with the third axis C, with respect tothe second arm 5. The fifth joints shaft J5 and the sixth joint shaft J6are disposed at a distal end of the wrist unit 6.

First, the configuration of the first joint shaft J1 will be describedbelow.

As shown in FIG. 3, the first joint shaft J1 includes: the base 2 andthe swivel body 3, which are coupled so as to allow relative rotationabout the first axis A; a motor 7 that generates a rotational drivingforce; and a reducer 8 that reduces the rotation of a rotation shaft 7 aof the motor 7.

The motor 7 is disposed at a position away from the first axis A. A pairof gears (power transmission mechanism) 9 and 10 that transmit therotation of the rotation shaft 7 a of the motor 7 to the reducer 8 areprovided between the motor 7 and the reducer 8.

The gear 9 is fixed to the rotation shaft 7 a of the motor 7, and thegear 10 is supported by a bearing (not shown) so as to be rotatableabout the first axis A. The gear 10 has a central hole 10 a penetratingtherethrough along the longitudinal axis of a shaft 10 b.

The inner diameter of a guide tube 15 has a sufficient size for allowinga wire body 16 including a cable for a mechanism part of the robot 1 topass therethrough. The guide tube 15 is made of a material that reducesthe friction with the wire body 16, which is made to pass therethrough,or at least an inner surface of the guide tube 15 is subjected toprocessing for reducing the friction.

In this embodiment, the first joint shaft J1 is provided with: aninput-side encoder 17A that detects a rotation angle of the rotationshaft 7 a of the motor 7; and an output-side encoder 17B that detects arotation angle of the swivel body 3 with respect to the base 2. Theinput-side encoder 17A is provided on the motor 7, for example, andincludes a scale member (not shown) that is fixed to the rotation shaft7 a of the motor 7 and a sensor (not shown) that optically reads anangle-detection pattern provided on the scale member.

As in the input-side encoder 17A, the output-side encoder 17B includes ascale member 18 and a sensor 19. The scale member 18 of the output-sideencoder 17B is formed in a ring shape having a central hole 20, and apattern is provided on an outer circumferential surface formed of acylindrical surface 18 a. The scale member 18 is fixed to the guide tube15 by fitting an upper end of the guide tube 15 into the central hole20. In the figure, reference sign 21 denotes a cover for covering thescale member.

The sensor 19 of the output-side encoder 17B is disposed radiallyoutward with respect to the cylindrical surface 18 a of the scale member18 so as to be opposed thereto with a space therebetween. The sensor 19includes a light emitting part and a light receiving part, which are notshown, and light emitted from the light emitting part and returningafter being reflected at the cylindrical surface 18 a of the scalemember 18 is received by the light receiving part, thereby making itpossible to read the pattern on the cylindrical surface 18 a throughchanges in intensity of the received light.

Next, the configuration of the second joint shaft J2 will be describedbelow.

As shown in FIGS. 4 and 5, the second joint shaft J2 includes: theswivel body (first link member) 3 and the first arm (second link member)4, which are coupled so as to allow relative rotation about the secondaxis (rotation axis) B; a motor 22 that generates a rotational drivingforce; and a reducer 23 that reduces the rotation of a rotation shaft 22a of the motor 22.

The reducer 23 includes an input shaft part 24 that is fixed to theswivel body 3 and an output shaft part 25 that is fixed to the first arm4. When a rotational driving force of the motor 22 is input, the reducer23 reduces the rotation by means of an internal mechanism, therebymaking it possible to output an amplified torque, in the form ofrotation of the output shaft part 25 with respect to the input shaftpart 24.

In this embodiment, the second joint shaft J2 is provided with: aninput-side encoder 26A that detects a rotation angle of the rotationshaft 22 a of the motor 22; and an output-side encoder 26B that detectsa rotation angle of the first arm 4 with respect to the swivel body 3.The input-side encoder 26A is provided on the motor 22, for example, andincludes a scale member (not shown) that is fixed to the rotation shaft22 a of the motor 22 and a sensor (not shown) that optically reads anangle-detection pattern provided on the scale member.

As in the input-side encoder 26A, the output-side encoder 26B includes ascale member 27 and a sensor 28. As shown in FIGS. 4 and 5, the scalemember 27 of the output-side encoder 26B is formed in a ring shapehaving a central hole 29, and a pattern is provided on an outercircumferential surface formed of a cylindrical surface 27 a. The scalemember 27 is detachably fixed on an attachment surface 4 a that isprovided in the opposite side surface of the first arm 4 from thesurface on which the reducer 23 is fixed.

As shown in FIG. 6, the attachment surface 4 a is provided with acylindrical protrusion 30 that extends in a direction perpendicular tothe second axis B and that has the second axis B as the center axis. Theprotrusion 30 is fitted into the central hole 29 of the scale member 27,thereby making it possible to accurately position the scale member 27with respect to the first arm 4 in a direction perpendicular to thesecond axis B.

The scale member 27 is made to abut against the attachment surface 4 a,thereby making it possible to accurately position the scale member 27with respect to the first arm 4 in the direction of the second axis B.The scale member 27 is detachably attached to the first arm 4, forexample, by fastening bolts (not shown) into screw holes (not shown)provided in the attachment surface 4 a.

As shown in FIG. 4, the sensor 28 of the output-side encoder 26B for thesecond joint shaft J2 is fixed to a fixing member 31 that is fixed tothe swivel body 3. The sensor 28 is attached to the fixing member 31such that the position of the sensor 28 can be adjusted in a directionperpendicular to the second axis B. The structure of the sensor 28 isthe same as that of the sensor 19 for the first joint shaft J1.

Since the third joint shaft J3 has a structure similar to the secondjoint shaft J2 except that the swivel body 3 in the second joint shaftJ2 is replaced with the second arm 5, a description thereof will beomitted.

Since the fourth joint shaft J4 has a structure similar to the firstjoint shaft J1 except that the base 2 in the first joint shaft J1 isreplaced with the wrist unit 6, and the swivel body 3 is replaced withthe second arm 5, a description thereof will be omitted.

In FIGS. 1 and 2, identical reference signs are assigned to theconfigurations of the first joint shaft J1 and the fourth joint shaftJ4, and identical reference signs are also assigned to theconfigurations of the second joint shaft J2 and the third joint shaftJ3.

The operation of the thus-configured robot 1 of this embodiment will bedescribed below.

According to the robot 1 of this embodiment, when rotational drivingforces generated by the motors 7 and 22 are input to the reducers, therotations of the rotation shafts 7 a and 22 a of the motors 7 and 22 arereduced by the reducers 8 and 23, an input shaft part 12 and an outputshaft part 13 of the reducer 8 are relatively rotated, and the inputshaft part and the output shaft part 25 of the reducer 23 are relativelyrotated.

Accordingly, a high torque amplified by the reducer 8 rotationallydrives the swivel body 3 with respect to the base 2 in the first jointshaft J1, a high torque amplified by the reducer 23 rotationally drivesthe first arm 4 with respect to the swivel body 3 in the second jointshaft J2, a high torque amplified by the reducer 23 rotationally drivesthe second arm 5 with respect to the first arm 4 in the third jointshaft J3, and a high torque amplified by the reducer 8 rotationallydrives the wrist unit 6 with respect to the second arm 5 in the fourthjoint shaft J4. The fifth joint shaft J5 and the sixth joint shaft J6are similarly operated.

In this case, according to the robot 1 of this embodiment, in the firstjoint shaft J1, the second joint shaft J2, and the third joint shaft J3,which affect the position of the wrist distal end in a 3D space, and inthe fourth joint shaft J4, the output-side encoders 17B and 26B areprovided in addition to the input-side encoders 17A and 26A, whichdetect the rotation angles of the rotation shafts 7 a and 22 a of themotors 7 and 22. Accordingly, even if deflection or wobble due toinsufficient rigidity of the internal mechanisms of the reducers 8 and23 occurs, because the rotation angles detected by the input-sideencoders 17A and 26A and the rotation angles detected by the output-sideencoders 17B and 26B are both used, there is an advantage in that it ispossible to improve the accuracy of the rotation angle of each of thejoint shafts J1, J2, J3, and J4 and to improve the positioning accuracyand the trajectory accuracy of the wrist distal end.

In each of the first joint shaft J1 and the fourth joint shaft J4, thereducer 8 is formed in a hollow structure, the guide tube 15, whichpasses through a hollow part 8A, is installed therein, and the motor 7is disposed, at a position away from the corresponding rotation axis Aor D, by the pair of gears 9 and 10, which serve as the powertransmission mechanism. Accordingly, it is possible to secure a space onthe extension of the hollow part 8A, to make the wire body 16 passthrough the inside of the guide tube 15, and to dispose the wire body 16in the vicinity of the rotation axis A or D in a substantially straightline along the rotation axis A or D. By doing so, even when the swivelbody 3 is rotated about the first axis A with respect to the base 2 andthe wrist unit is rotated about the fourth axis D with respect to thesecond arm 5, over large operating angle ranges, the wire body 16 is notsubjected to large bending, thus making it possible to maintain thesoundness of the wire body 16.

Because one end of the guide tube 15, through which the wire body 16 ismade to pass, is fixed to the output shaft part 13 of the reducer 8,when the motor 7 is driven, the output shaft part 13 is rotated relativeto the input shaft part 12, and the guide tube 15, which is fixed to theoutput shaft part 13, is also rotated relative to the input shaft part12.

Then, because the scale member 18 is fixed to the guide tube 15, and thesensor 19 is indirectly fixed to the input shaft part 12 via the swivelbody 3 or the second arm 5, relative rotation that is the same as therelative rotation between the input shaft part 12 and the output shaftpart 13 occurs between the sensor 19 and the scale member 18.Accordingly, the relative rotation angle between the input shaft part 12and the output shaft part 13 can be accurately detected by theoutput-side encoder 17B.

In each of the second joint shaft J2 and the third joint shaft J3, thescale member 27 is directly attached on the attachment surface 4 a,which is provided in the opposite side surface of the link member 4 or5, to which the output shaft part 25 of the reducer 23 is fixed, fromthe output shaft part 25. Then, the sensor 28 is indirectly fixed to theinput shaft part 24 via the fixing member 31, which is fixed to theswivel body 3 or the first arm 4. Accordingly, also in the second jointshaft J2 and the third joint shaft J3, the relative rotation anglebetween the input shaft part 24 and the output shaft part 25 can beaccurately detected by the output-side encoder 26B.

In this case, according to this embodiment, in the first shaft J1 andthe fourth joint shaft J4, rotation of the output shaft part 13 isextracted at the opposite side of the input shaft part 12 from theoutput shaft part 13, by using the guide tube 15, which guides the wirebody 16 in a penetrating state and which passes through the hollow part8A of the reducer 8.

In the second joint shaft J2 and the third joint shaft J3, the scalemember 27 is directly attached on the attachment surface 4 a, which isprovided in the opposite side surface of the link member 4 or 5, towhich the output shaft part 25 is fixed, from the output shaft part 25.

Accordingly, in each of the first to fourth joint shafts J1, J2, J3, andJ4, the corresponding output-side encoder 17B or 26B is disposed outsidethe corresponding two adjacent link members of the link members 2, 3, 4,5, and 6, instead of between the corresponding two adjacent link membersof the link members 2, 3, 4, 5, and 6.

As a result, there is an advantage in that it is easy to access theoutput-side encoders 17B and 26B from the outside, and it is possible toexchange and adjust the scale members 18 and 27 and the sensors 19 and28 without disassembling the robot 1.

In each of the second joint shaft J2 and the third joint shaft J3,because the scale member 27 is formed in a ring-plate shape and isattached to the attachment surface 4 a, which is provided in the sidesurface of the first arm 4 or the second arm 5 and which extends in adirection perpendicular to the rotation axis B or C, it is possible toprevent the attached scale member 27 from significantly protruding fromthe outer surface of the first arm 4 or the second arm 5 and to avoidinterference between a peripheral object and the output-side encoder 26Bwhen the robot 1 is operated. Specifically, there is an advantage inthat, while the scale member 27 is disposed at such a position as to beeasily accessed from the outside of the robot 1, the occurrence ofinterference during operation of the robot 1 can be suppressed as muchas possible.

The angle-detection pattern is formed on the cylindrical surface 27 a ofthe scale member 27, and the sensor 28 is disposed radially outward withrespect to the cylindrical surface 27 a so as to be opposed thereto witha space therebetween, thereby preventing the sensor 28 from beingdisposed in the thickness direction of the plate-like scale member 27.Accordingly, there is an advantage in that it is possible to suppress anincrease in the thickness dimension of the output-side encoder 26B inthe direction along the rotation axis B or C and to further suppress theoccurrence of interference during operation of the robot 1.

In this embodiment, although the cylindrical protrusion 30 is providedon the side surface of the first arm 4 or the side surface of the secondarm 5, and the protrusion 30 is fitted into the central hole 29 of thering-shaped scale member 27, instead of this, as shown in FIG. 7, it isalso possible to form the scale member 27 in a plate-like shape, toprovide a cylindrical protrusion 32 thereon in the thickness direction,and to provide a recessed section 33 into which the protrusion 32 isfitted, on the attachment surface 4 a of the first arm 4 or the secondarm 5.

Although the scale member 27 is formed in a ring shape, since theoperating angle range of each of the second joint shaft J2 and the thirdjoint shaft J3 is limited to an angle range less than 360°, thecylindrical surface 27 a, on which the pattern is formed, may also beprovided partially in the circumferential direction. The section otherthan the cylindrical surface 27 a may have an arbitrary shape.

Although optical encoders are shown as the input-side encoders 17A and26A and the output-side encoders 17B and 26B, the encoders are notlimited thereto, and it is also possible to adopt arbitrary non-contactencoders or contact encoders, such as optical or magnetic encoders.

In this embodiment, for example, in the first joint shaft J1, although adescription has been given of an example case in which the output shaftpart 13 of the reducer 8 is fixed to the base 2, which is installed onthe floor surface, the motor 7 and the input shaft part 12 are fixed tothe swivel body 3, which is rotationally driven with respect to the base2, and the output shaft part 13 is rotated with respect to the fixedinput shaft part 12, the arrangement may be vice versa. Specifically,the motor 7 and the input shaft part 12 may be fixed to the base 2, theoutput shaft part 13 may be fixed to the swivel body 3, and the outputshaft part 13 may be rotated with respect to the fixed input shaft part12.

In this case, the guide tube 15 needs to be fixed to the input shaftpart 12.

For example, in the second joint shaft J2, although a description hasbeen given of an example case in which the motor 22 and the input shaftpart 24 of the reducer 23 are fixed to the swivel body 3, the outputshaft part 25 is fixed to the first arm 4, and the output shaft part 25is rotated with respect to the input shaft part 24, the arrangement maybe vice versa. Specifically, the output shaft part 25 may be fixed tothe swivel body 3, the motor 22 and the input shaft part 24 may be fixedto the first arm 4, and the input shaft part 24 may be rotated withrespect to the fixed output shaft part 25. In this case, the attachmentsurface 4 a for the scale member 27 needs to be provided on the swivelbody 3.

Although FIG. 3 shows a case in which the guide tube 15 is directlyfixed to the output shaft part 13, instead of this, the guide tube 15may also be indirectly fixed to the output shaft part 13 by being fixedto the base 2.

In this embodiment, because the structure used in the first joint shaftJ1 and the fourth joint shaft J4 can be adopted in any of the otherjoint shafts J2, J3, J5, and J6, it is also possible to employ anembodiment obtained by adopting the structure in any of the other jointsJ2, J3, J5, and J6.

In this embodiment, although a description has been given of thestructures including the output-side encoders 17B and 26B, as the firstjoint shaft J1, the second joint shaft J2, the third joint shaft J3, andthe fourth joint shaft J4, it is also possible for at least one of thefirst joint shaft J1, the second joint shaft J2, the third joint shaftJ3, and the fourth joint shaft J4 to include the output-side encoder 17Bor 26B, and for the other joint shafts to adopt a structure that doesnot include the output-side encoder 17B or 26B.

1. A robot comprising at least one joint shaft, the at least one jointshaft comprising: a first link member and a second link member that arecoupled so as to be rotatable about a rotation axis; a reducer that hasan input shaft part fixed to the first link member and an output shaftpart fixed to the second link member; a motor that generates arotational driving force to be input to the reducer; an input-sideencoder that detects a rotation angle of a rotation shaft of the motor;and an output-side encoder that detects a relative rotation anglebetween the first link member and the second link member, wherein themotor is disposed at a position away from the rotation axis, and a powertransmission mechanism that transmits rotation of the rotation shaft tothe reducer is provided between the motor and the reducer; the reducercomprises, at a position including the rotation axis, a hollow partpenetrating in the direction along the rotation axis, and also comprisesa tubular member that passes through the hollow part, one end of whichis fixed to one of the input shaft part and the output shaft part, andthe other end of which is disposed so as to protrude from an end of theother one of the input shaft part and the output shaft part; theoutput-side encoder comprises a ring-shaped scale member that has anangle-detection pattern and a sensor that detects the pattern on thescale member; the scale member is detachably fixed to the other end ofthe tubular member; and the sensor is fixed to the other one of theinput shaft part and the output shaft part.
 2. A robot according toclaim 1, wherein the scale member has a cylindrical surface; the patternis provided on the cylindrical surface; and the sensor is disposed witha space in a radial direction with respect to the cylindrical surface.3. A robot according to claim 1, wherein the scale member has a centralhole; and an outer circumferential surface of the tubular member isfitted into the central hole.